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annotate libovr/Src/Util/Util_MagCalibration.h @ 24:8419d8a13cee

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author John Tsiombikas <nuclear@member.fsf.org>
date Fri, 04 Oct 2013 14:50:26 +0300
parents e2f9e4603129
children
rev   line source
nuclear@3 1 /************************************************************************************
nuclear@3 2
nuclear@3 3 PublicHeader: OVR.h
nuclear@3 4 Filename : Util_MagCalibration.h
nuclear@3 5 Content : Procedures for calibrating the magnetometer
nuclear@3 6 Created : April 16, 2013
nuclear@3 7 Authors : Steve LaValle, Andrew Reisse
nuclear@3 8
nuclear@3 9 Copyright : Copyright 2013 Oculus VR, Inc. All Rights reserved.
nuclear@3 10
nuclear@3 11 Use of this software is subject to the terms of the Oculus license
nuclear@3 12 agreement provided at the time of installation or download, or which
nuclear@3 13 otherwise accompanies this software in either electronic or hard copy form.
nuclear@3 14
nuclear@3 15 *************************************************************************************/
nuclear@3 16
nuclear@3 17 #ifndef OVR_Util_MagCalibration_h
nuclear@3 18 #define OVR_Util_MagCalibration_h
nuclear@3 19
nuclear@3 20 #include "../OVR_SensorFusion.h"
nuclear@3 21 #include "../Kernel/OVR_String.h"
nuclear@3 22 #include "../Kernel/OVR_Log.h"
nuclear@3 23
nuclear@3 24 namespace OVR { namespace Util {
nuclear@3 25
nuclear@3 26 class MagCalibration
nuclear@3 27 {
nuclear@3 28 public:
nuclear@3 29 enum MagStatus
nuclear@3 30 {
nuclear@3 31 Mag_Uninitialized = 0,
nuclear@3 32 Mag_AutoCalibrating = 1,
nuclear@3 33 Mag_ManuallyCalibrating = 2,
nuclear@3 34 Mag_Calibrated = 3
nuclear@3 35 };
nuclear@3 36
nuclear@3 37 MagCalibration() :
nuclear@3 38 Stat(Mag_Uninitialized),
nuclear@3 39 MinMagDistance(0.2f), MinQuatDistance(0.5f),
nuclear@3 40 SampleCount(0)
nuclear@3 41 {
nuclear@3 42 MinMagDistanceSq = MinMagDistance * MinMagDistance;
nuclear@3 43 MinQuatDistanceSq = MinQuatDistance * MinQuatDistance;
nuclear@3 44 MinMagValues = Vector3f(10000.0f,10000.0f,10000.0f);
nuclear@3 45 MaxMagValues = Vector3f(-10000.0f,-10000.0f,-10000.0f);
nuclear@3 46 MinQuatValues = Quatf(1.0f,1.0f,1.0f,1.0f);
nuclear@3 47 MaxQuatValues = Quatf(0.0f,0.0f,0.0f,0.0f);
nuclear@3 48 }
nuclear@3 49
nuclear@3 50 // Methods that are useful for either auto or manual calibration
nuclear@3 51 bool IsUnitialized() const { return Stat == Mag_Uninitialized; }
nuclear@3 52 bool IsCalibrated() const { return Stat == Mag_Calibrated; }
nuclear@3 53 int NumberOfSamples() const { return SampleCount; }
nuclear@3 54 int RequiredSampleCount() const { return 4; }
nuclear@3 55 void AbortCalibration()
nuclear@3 56 {
nuclear@3 57 Stat = Mag_Uninitialized;
nuclear@3 58 SampleCount = 0;
nuclear@3 59 }
nuclear@3 60
nuclear@3 61 void ClearCalibration(SensorFusion& sf)
nuclear@3 62 {
nuclear@3 63 Stat = Mag_Uninitialized;
nuclear@3 64 SampleCount = 0;
nuclear@3 65 sf.ClearMagCalibration();
nuclear@3 66 };
nuclear@3 67
nuclear@3 68 // Methods for automatic magnetometer calibration
nuclear@3 69 void BeginAutoCalibration(SensorFusion& sf);
nuclear@3 70 unsigned UpdateAutoCalibration(SensorFusion& sf);
nuclear@3 71 bool IsAutoCalibrating() const { return Stat == Mag_AutoCalibrating; }
nuclear@3 72
nuclear@3 73 // Methods for building a manual (user-guided) calibraton procedure
nuclear@3 74 void BeginManualCalibration(SensorFusion& sf);
nuclear@3 75 bool IsAcceptableSample(const Quatf& q, const Vector3f& m);
nuclear@3 76 bool InsertIfAcceptable(const Quatf& q, const Vector3f& m);
nuclear@3 77 // Returns true if successful, requiring that SampleCount = 4
nuclear@3 78 bool SetCalibration(SensorFusion& sf);
nuclear@3 79 bool IsManuallyCalibrating() const { return Stat == Mag_ManuallyCalibrating; }
nuclear@3 80
nuclear@3 81 // This is the minimum acceptable distance (Euclidean) between raw
nuclear@3 82 // magnetometer values to be acceptable for usage in calibration.
nuclear@3 83 void SetMinMagDistance(float dist)
nuclear@3 84 {
nuclear@3 85 MinMagDistance = dist;
nuclear@3 86 MinMagDistanceSq = MinMagDistance * MinMagDistance;
nuclear@3 87 }
nuclear@3 88
nuclear@3 89 // The minimum acceptable distance (4D Euclidean) between orientations
nuclear@3 90 // to be acceptable for calibration usage.
nuclear@3 91 void SetMinQuatDistance(float dist)
nuclear@3 92 {
nuclear@3 93 MinQuatDistance = dist;
nuclear@3 94 MinQuatDistanceSq = MinQuatDistance * MinQuatDistance;
nuclear@3 95 }
nuclear@3 96
nuclear@3 97 // A result of the calibration, which is the center of a sphere that
nuclear@3 98 // roughly approximates the magnetometer data.
nuclear@3 99 Vector3f GetMagCenter() const { return MagCenter; }
nuclear@3 100 // Retrieves the full magnetometer calibration matrix
nuclear@3 101 Matrix4f GetMagCalibration() const;
nuclear@3 102 // Retrieves the range of each quaternion term during calibration
nuclear@3 103 Quatf GetCalibrationQuatSpread() const { return QuatSpread; }
nuclear@3 104 // Retrieves the range of each magnetometer term during calibration
nuclear@3 105 Vector3f GetCalibrationMagSpread() const { return MagSpread; }
nuclear@3 106
nuclear@3 107 private:
nuclear@3 108 // Determine the unique sphere through 4 non-coplanar points
nuclear@3 109 Vector3f CalculateSphereCenter(const Vector3f& p1, const Vector3f& p2,
nuclear@3 110 const Vector3f& p3, const Vector3f& p4);
nuclear@3 111
nuclear@3 112 // Distance from p4 to the nearest point on a plane through p1, p2, p3
nuclear@3 113 float PointToPlaneDistance(const Vector3f& p1, const Vector3f& p2,
nuclear@3 114 const Vector3f& p3, const Vector3f& p4);
nuclear@3 115
nuclear@3 116 Vector3f MagCenter;
nuclear@3 117 unsigned Stat;
nuclear@3 118 float MinMagDistance;
nuclear@3 119 float MinQuatDistance;
nuclear@3 120 float MinMagDistanceSq;
nuclear@3 121 float MinQuatDistanceSq;
nuclear@3 122 // For gathering statistics during calibration
nuclear@3 123 Vector3f MinMagValues;
nuclear@3 124 Vector3f MaxMagValues;
nuclear@3 125 Vector3f MagSpread;
nuclear@3 126 Quatf MinQuatValues;
nuclear@3 127 Quatf MaxQuatValues;
nuclear@3 128 Quatf QuatSpread;
nuclear@3 129
nuclear@3 130 unsigned SampleCount;
nuclear@3 131 Vector3f MagSamples[4];
nuclear@3 132 Quatf QuatSamples[4];
nuclear@3 133
nuclear@3 134 };
nuclear@3 135
nuclear@3 136 }}
nuclear@3 137
nuclear@3 138 #endif